Some time ago we bought [BLE400 from Waveshare] as probably one of the cheapest option to enter nRF51822 market. As our readers know, we prefer to use the Linux environment for embedded systems development. Because of that, we’re following the guide for using Waveshare nRF51822 Eval Kit: [icarus-sensors]. Kudos due to great post that helped us enter nRF51822 and mbed OS land under Linux.
BLE400 is pretty cheap, because it hasn’t got integrated debugger/programmer. Key is to realize, that you can use BLE400 eval kit and STM32 development board ie. Discovery or any Nucleo (only for its stlink integrated debugger/programmer), which are also cheap. Of course other boards or standalone ST-Link could be used.
Hardware connections
On the Nucleo board both jumpers from CN2 connector should be removed.
Thanks to this ST-LINK could be used in stand-alone mode.
Connection should be made this way:
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Nucleo CN2 connector BLE400 SWD connector -----------------+ +------------------ VCC (pin 1) |-x | . SWD CLK (pin 2) |---------------| (pin 9) SWD CLK GND (pin 3) |---------------| (pin 4) GND SWD IO (pin 4) |---------------| (pin 7) SWD IO RST (pin 5) |-x | . SWO (pin 6) |-x | . -----------------+ +------------------ |
Both boards should be connected to host’s USB ports. USB port on BLE400 is used
for power supply and debug UART connection (cp210x converter should be
detected and ttyUSBx exposed).
OpenOCD basic test
No stlink tools are needed. Only OpenOCD.
OpenOCD version we’re using:
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$ openocd -v Open On-Chip Debugger 0.9.0 (2016-04-27-23:18) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html |
Enable user access to Debugger
First we need to check, that our debugger is detected. There should be line like this:
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$ lsusb ... Bus 003 Device 015: ID 0483:3748 STMicroelectronics ST-LINK/V2 ... |
Note the ID's: 0483:3748. Create rule in
/etc/udev/rules.d (as root):
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$ cat > /etc/udev/rules.d/95-usb-stlink-v2.rules << EOF SUBSYSTEM=="usb", ATTR{idVendor}=="0483", ATTR{idProduct}=="3748", GROUP="users", MODE="0666" EOF |
Reload udev rules (as root):
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$ udevadm control --reload $ udevadm trigger |
Reconnect the st-link. After that, debugger should be accessible by user.
Test the OpenOCD connection
Run this command to connect the debugger to the target system (attaching
example output). cfg files location depend on your setup, if you compiled
OpenOCD from source those files should be in
/usr/local/share/openocd/scripts:
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$ openocd -f interface/stlink-v2.cfg -f target/nrf51.cfg Open On-Chip Debugger 0.9.0 (2016-04-27-23:18) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'. Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD adapter speed: 1000 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : clock speed 950 kHz Info : STLINK v2 JTAG v14 API v2 SWIM v0 VID 0x0483 PID 0x3748 Info : using stlink api v2 Info : Target voltage: 2.935549 Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints |
If you see error like this:
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censed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'. Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD adapter speed: 1000 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : clock speed 950 kHz Error: open failed in procedure 'init' in procedure 'ocd_bouncer' |
This means you may have STLink v2.1, so your command should look like this:
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$ openocd -f interface/stlink-v2-1.cfg -f target/nrf51.cfg Open On-Chip Debugger 0.10.0-dev-00395-g674141e8a7a6 (2016-10-20-15:01) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'. Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD adapter speed: 1000 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : Unable to match requested speed 1000 kHz, using 950 kHz Info : clock speed 950 kHz Info : STLINK v2 JTAG v27 API v2 SWIM v15 VID 0x0483 PID 0x374B Info : using stlink api v2 Info : Target voltage: 0.000000 Error: target voltage may be too low for reliable debugging Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints |
After that OpenOCD is waiting for incoming telnet connections on port 4444.
This sample connection, to check everything is ok:
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$ telnet 127.0.0.1 4444 Trying 127.0.0.1... Connected to 127.0.0.1. Escape character is '^]'. Open On-Chip Debugger > halt target state: halted target halted due to debug-request, current mode: Thread xPSR: 0x61000000 pc: 0x00011434 msp: 0x200022a8 > reg ===== arm v7m registers (0) r0 (/32): 0x20000093 (1) r1 (/32): 0x0000003B (2) r2 (/32): 0xE000E200 (3) r3 (/32): 0x0000003B (4) r4 (/32): 0x0001CEB8 (5) r5 (/32): 0x00000001 (6) r6 (/32): 0x0001CEB8 (7) r7 (/32): 0xFFFFFFFF (8) r8 (/32): 0xFFFFFFFF (9) r9 (/32): 0xFFFFFFFF (10) r10 (/32): 0xFFFFFFFF (11) r11 (/32): 0xFFFFFFFF (12) r12 (/32): 0xFFFFFFFF (13) sp (/32): 0x200022A8 (14) lr (/32): 0x0000114F (15) pc (/32): 0x00011434 (16) xPSR (/32): 0x61000000 (17) msp (/32): 0x200022A8 (18) psp (/32): 0xFFFFFFFC (19) primask (/1): 0x00 (20) basepri (/8): 0x00 (21) faultmask (/1): 0x00 (22) control (/2): 0x00 ===== Cortex-M DWT registers (23) dwt_ctrl (/32) (24) dwt_cyccnt (/32) (25) dwt_0_comp (/32) (26) dwt_0_mask (/4) (27) dwt_0_function (/32) (28) dwt_1_comp (/32) (29) dwt_1_mask (/4) (30) dwt_1_function (/32) > reset > exit Connection closed by foreign host. |
Testing the example program
First we need proper SDK for out device. ICs that we tested were revision 2 and
3 (QFAA and QFAC code, see the print on the NRF chip). You can check the
[revision table] and [compatibility matrix] to determine SDK version. We used
[SDK v.12.1.0] for the rev3 chip.
After downloading and uncompressing the SDK. We can find the blinky example in
examples/peripheral/blinky/hex/blinky_pca10028.hex. Now we can try to program
it:
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$ telnet 127.0.0.1 4444 Trying 127.0.0.1... Connected to 127.0.0.1. Escape character is '^]'. Open On-Chip Debugger > halt target state: halted target halted due to debug-request, current mode: Handler HardFault xPSR: 0xc1000003 pc: 0xfffffffe msp: 0xffffffd8 > program /home/mek/work/nrf51/sdk/examples/peripheral/blinky/hex/blinky_pca10028.hex target state: halted target halted due to debug-request, current mode: Thread xPSR: 0xc1000000 pc: 0xfffffffe msp: 0xfffffffc ** Programming Started ** auto erase enabled using fast async flash loader. This is currently supported only with ST-Link and CMSIS-DAP. If you have issues, add "set WORKAREASIZE 0" before sourcing nrf51.cfg to disable it target state: halted target halted due to breakpoint, current mode: Thread xPSR: 0x61000000 pc: 0x2000001e msp: 0xfffffffc wrote 2048 bytes from file /path/to/nrf51/sdk/examples/peripheral/blinky/hex/blinky_pca10028.hex in 0.114289s (17.499 KiB/s) ** Programming Finished ** > reset > exit Connection closed by foreign host. |
During that procedure you may face this problem:
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> program /path/to/work/nrf51/sdk/examples/peripheral/blinky/hex/blinky_pca10028.hex nrf51.cpu: target state: halted target halted due to debug-request, current mode: Thread xPSR: 0xc1000000 pc: 0x00012b98 msp: 0x20001c48 ** Programming Started ** auto erase enabled Cannot erase protected sector at 0x0 failed erasing sectors 0 to 1 embedded:startup.tcl:454: Error: ** Programming Failed ** in procedure 'program' in procedure 'program_error' called at file "embedded:startup.tcl", line 510 at file "embedded:startup.tcl", line 454 |
To solve that please issue nrf51 mass_erase and retry program command. This
have to be done only once.
After that, LED3 and LED4 should start blinking on the target board.
Sample script for flashing
I’ve created this script to simplify the flashing operation:
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#!/bin/bash if [ $# -lt 1 ]; then echo "Usage: $0 BINARY_HEX" exit 0 fi if [ ! -f $1 ]; then echo "$1: file not found" exit 1 fi openocd -f interface/stlink-v2.cfg -f target/nrf51.cfg -c "init" -c "halt" -c "nrf51 mass_erase" -c "program $1" -c "reset" -c "exit" |
Note: openocd does not accept filenames containing space in path.
Summary
As you can see, it’s possible to work with nRF51822 under Linux using only OpenOCD. Whole workflow can be scripted to match your needs. With this knowledge, we can start to deploy mbed OS and Zephyr, which both have great support for Linux through command line interface.
